The drama, which is produced by Steven Spielberg, will follow an ordinary family who are transported 85 million years into the past.
Deadline reports that Miller will play Skye on the show, joining the previously cast Jason O'Mara.
The actress previously starred in film comedy 17 Again and most recently featured in NBC drama Kings.
Fox announced earlier this month that Terra Nova had been postponed until May 2011.
The pilot, which will be directed by Alex Graves, is expected to begin filming in October.